#ifndef WPSLAM_CAMERA_H
#define WPSLAM_CAMERA_H

#include "wpslam/common_include.h"

namespace wpslam
{
    class Camera
    {
    public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
        typedef std::shared_ptr<Camera> Ptr;
        double fx_ = 0, fy_ = 0, cx_ = 0, cy_ = 0, base_line_ = 0;//相机内参
        SE3 pose_;
        SE3 pose_inv_;
    };

}

#endif